Siemens SINUMERIK Series Function Manual page 285

Commissioning
We recommend the following procedure when checking the feedforward control for
command and PLC axes:
1. Check the stoppage velocity in MD36060.
2. Check the existing following error of the axis in stoppage condition.
3. Setting the changeover condition and activating it:
4. Traverse axis in the part program using the
5. Execute
6. The K
7. A higher K
Essentially the same as when activating the feedforward control, for deactivation, the
following applies:
1. Traverse axis in the part program using the
2. Execute
3. The K
4. A lower K
Example
In the following program example, axis A is traversed asynchronously to the path. An attempt
is made to activate the feedforward control in the channel while traversing. Contrary to the
geometry axes X, Y and Z, the feedforward control is not immediately effective for axis A.
Here one waits for the stoppage after N60. Axis A then traverses with the feedforward
control in N70.
Program code
N10 FFWOF
N20 POSA[A]=1000 FA[A]=10000
N30 G4 F1
N40 FFWON
N50 G0 X10 Y10 Z10
N60 WAITP(A)
N70 POSA[A]=1500 FA[A]=10000
N80 WAITP(A)
M30
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
MD32630 = 2
during the axis motion.
FFWON
factor and following error displayed in the service display "Axis/spindle" must not
v
jump.
factor and a lower following error are only obtained for traversing motion
v
following standstill. However, the feedforward control is active only from the stoppage
condition.
during the axis motion.
FFWOF
factor and following error displayed in the service display "Axis/spindle" must not
v
jump.
factor and a higher following error are only obtained for traversing motion
v
following standstill. However, the feedforward control is inactive only from the stoppage
condition.
4.5 Dynamic feedforward control (following error compensation)
POSA
POSA
K3: Compensations
operation.
operation.
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